上海交通大学学报(自然版) ›› 2012, Vol. 46 ›› Issue (06): 967-971.

• 自动化技术、计算机技术 • 上一篇    下一篇

一种基于时间窗的自动导引车动态路径规划方法

胡彬a,王冰a,王春香b,杨明a   

  1. (上海交通大学,a.系统控制与信息处理教育部重点实验室;b.上海交通大学机器人研究所,    上海 200240)
  • 收稿日期:2011-09-06 出版日期:2012-06-28 发布日期:2012-06-28
  • 基金资助:

    国家自然科学基金重大研究计划培育项目(91120018),国家自然科学基金(51178268)资助项目

Dynamic Routing of Automated Guided Vehicles Based on Time Window

 HU  Bin-a, WANG  Bing-a, WANG  Chun-Xiang-b, YANG  Ming-a   

  1. (a.Key Laboratory of System Control and Information Processing, Ministry of Education;b. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2011-09-06 Online:2012-06-28 Published:2012-06-28

摘要: 针对多自动引导车(Automatic Guided Vehicle,AGV)在柔性制造系统中的路径规划问题,提出一种基于时间窗的动态路径规划算法,能有效地避免车—车冲突、碰撞等问题,并且得到的路径是时间最优的.在备选路径上,通过时间窗的初始化、时间窗的更新、以及时间窗的排布,可以实现多辆车同时运行,相互之间不产生冲突碰撞.仿真实验和真车实验表明,该算法用在AGV路径规划上,能实现多车之间的无冲突、时间最优的路径规划功能.

关键词: 自动导引车, 动态路径规划, 时间窗

Abstract: This paper studied the routing algorithm of AGVs which is used in flexible manufacturing systems. A dynamic routing plan algorithm based on time window was proposed. It can avoid collisions, deadlocks and some other problems ,the route is time optimization. According to time window’s initialization, arrangement and updating, the route algorithm can be used in multi-AGV with conflict-free. The simulation and practical experiments show that the time window algorithm used on multi-AGV system can achieve no conflicts, the time optimal path planning function.

Key words: automatic guided vehicle(AGV), dynamic path planning, time window

中图分类号: